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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | https://arxiv.org/abs/2408.11752 |
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| _version_ | 1866917137584488448 |
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| author | Zegers, Federico M. Phillips, Sean |
| author_facet | Zegers, Federico M. Phillips, Sean |
| contents | Distributed consensus protocols provide a mechanism for spreading information within clustered networks, allowing agents and clusters to make decisions without requiring direct access to the state of the ensemble. In this work, we propose a strategy for achieving system-wide consensus in the states of identical linear time-invariant systems coupled by an undirected graph whose directed sub-graphs are available only at sporadic times. Within this work, the agents of the network are organized into pairwise disjoint clusters, which induce sub-graphs of the undirected parent graph. Some cluster sub-graph pairs are linked by an inter-cluster sub-graph, where the union of all cluster and inter-cluster sub-graphs yields the undirected parent graph. Each agent utilizes a distributed consensus protocol with components that are updated intermittently and asynchronously with respect to other agents and inter-clusters. The closed-loop ensemble dynamics is modeled as a hybrid system, and a Lyapunov-based stability analysis yields sufficient conditions for rendering the agreement subspace (consensus set) globally exponentially stable. Furthermore, an input-to-state stability argument demonstrates the consensus set is robust to a large class of perturbations. A numerical simulation considering both nominal and perturbed scenarios is provided for validation purposes. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_11752 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Consensus over Clustered Networks Using Intermittent and Asynchronous Output Feedback Zegers, Federico M. Phillips, Sean Systems and Control Distributed consensus protocols provide a mechanism for spreading information within clustered networks, allowing agents and clusters to make decisions without requiring direct access to the state of the ensemble. In this work, we propose a strategy for achieving system-wide consensus in the states of identical linear time-invariant systems coupled by an undirected graph whose directed sub-graphs are available only at sporadic times. Within this work, the agents of the network are organized into pairwise disjoint clusters, which induce sub-graphs of the undirected parent graph. Some cluster sub-graph pairs are linked by an inter-cluster sub-graph, where the union of all cluster and inter-cluster sub-graphs yields the undirected parent graph. Each agent utilizes a distributed consensus protocol with components that are updated intermittently and asynchronously with respect to other agents and inter-clusters. The closed-loop ensemble dynamics is modeled as a hybrid system, and a Lyapunov-based stability analysis yields sufficient conditions for rendering the agreement subspace (consensus set) globally exponentially stable. Furthermore, an input-to-state stability argument demonstrates the consensus set is robust to a large class of perturbations. A numerical simulation considering both nominal and perturbed scenarios is provided for validation purposes. |
| title | Consensus over Clustered Networks Using Intermittent and Asynchronous Output Feedback |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2408.11752 |